Three-dimensional automatic electric arc welding equipment for steel plate type goods shelf

Abstract

The three-dimensional automatic electric arc welding equipment for the steel plate type goods shelf comprises a cabinet body with an open area, and a first bearing face and a second bearing face are oppositely arranged in the open area in the vertical direction. A welding executing mechanism and a welding position adjusting mechanism which can slide along a preset path are arranged on the first bearing surface and the second bearing surface respectively; the welding executing mechanism comprises a feeding assembly, a welding face cleaning assembly and an electric arc welding assembly, the feeding assembly is used for conveying the goods shelf assembly into the welding position adjusting mechanism, the welding face cleaning assembly comprises a cleaning column, the electric arc welding assembly comprises a welding gun, and the cleaning column and the welding gun are both configured to be capable of conducting spherical movement. The problems that according to existing goods shelf welding equipment, the welding angles of a welding assembly and a goods shelf assembly are limited, the welding assembly and the goods shelf assembly are difficult to accurately adjust according to actual welding requirements, and consequently the flexibility is poor, the welding effect is not ideal enough, and the application range is narrow are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of welding equipment, and in particular relates to a three-dimensional automatic arc welding device for steel plate type shelves. Background Art

[0002] Steel plate racking is a type of storage equipment made primarily of steel plates, formed through processes such as cutting, bending, and stamping, with components securely connected using welding techniques. Welded racking ensures the strength and stability of connections between components, preventing loosening or deformation due to external forces, thereby ensuring the safety and reliability of the racking.

[0003] However, the existing patent disclosed in publication number CN119407311A discloses a continuous shelf support bar welding device and method thereof, comprising a frame, wherein a first linear module is fixedly installed on both sides of the frame, a support plate is fixedly installed on the output end of the first linear module, a cargo frame is fixedly installed on the upper side of the support plate through a bracket, and a plurality of first slots are provided on the cargo frame, a continuous loading device is installed on the left side of the frame, a positioning loading device is installed on the middle side of the frame, and continuous welding devices are symmetrically installed on the left and right sides of the frame along the central axis of the frame, the continuous welding device is located behind the positioning loading device, and the continuous welding device includes: a welding assembly and a pressing assembly, the welding assembly is installed on the upper side of the frame, and the pressing assembly is installed on the welding assembly. Although this technical solution achieves the effect of continuous feeding of the support bar, it limits the welding angle between the cargo frame and the support bar, and it is difficult to accurately adjust the welding assembly and the support bar according to actual welding requirements, resulting in poor flexibility of the existing shelf welding equipment and unsatisfactory welding effect. Moreover, the above patent can only support the welding of cargo frames and continuous support bar shelf components, and its scope of application is relatively narrow.

[0004] Therefore, the existing welding equipment used for shelves still needs to be further optimized in design to break through current technical limitations and achieve higher flexibility and precision. Summary of the Invention

[0005] The purpose of the present invention is to solve the problems that the existing shelf welding equipment limits the welding angles of welding components and shelf components and is difficult to accurately adjust the welding components and shelf components according to actual welding requirements, resulting in poor flexibility, unsatisfactory welding effects and a narrow scope of application.

[0006] To achieve the above-mentioned object, the present invention provides a three-dimensional automatic arc welding device for steel plate shelves, comprising a cabinet having an open area, wherein a first bearing surface and a second bearing surface are vertically opposed to each other, and a welding actuator and a welding position adjustment mechanism capable of sliding along a preset path are respectively provided on the first bearing surface and the second bearing surface;

[0007] The welding actuator includes a feeding assembly, a welding surface cleaning assembly and an arc welding assembly. The feeding assembly is used to transport the shelf assembly into the welding position adjustment mechanism. The welding surface cleaning assembly includes a cleaning column. The arc welding assembly includes a welding gun. Both the cleaning column and the welding gun are configured to be able to perform spherical motion.

[0008] The welding position adjustment mechanism includes at least two clamping assemblies, each of which includes a base that can rotate with its sliding direction as an axis and two clamping plates arranged on the base and configured to move toward or away from each other, each clamping plate is provided with a flexible limit assembly;

[0009] When the shelf assembly is clamped by the two clamping plates, the flexible limiting assembly can limit the upper end of the shelf assembly, and the cleaning column and the welding gun can clean and weld the welding surface of the shelf assembly respectively.

[0010] Optionally, the flexible limit assembly includes a shell with a lateral opening, a drive shaft and a linkage unit, two slide grooves are relatively arranged on the inner wall of the opening, and the two ends of the drive shaft are respectively embedded in the two slide grooves, and the linkage unit includes a linkage shaft sleeved on the drive shaft and a magnetorheological fluid flexible covering layer connected to the linkage shaft and capable of moving toward the outside of the opening under the drive of the linkage shaft, the magnetorheological fluid flexible covering layer is filled with magnetorheological fluid and a coil array is provided on the side facing the opening, and the coil array is configured to generate a magnetic field that causes the magnetorheological fluid to exhibit solid-like mechanical properties after power is applied.

[0011] Optionally, a first annular track and a second annular track are sequentially arranged on the first bearing surface from the outside to the inside, the feeding assembly is connected to the first annular track, and the weld surface cleaning assembly and the arc welding assembly are both connected to the second annular track.

[0012] Optionally, a third annular track is provided on the second bearing surface, and each clamping assembly is connected to the third annular track.

[0013] Optionally, a through groove for collecting welding waste is provided in the middle of the second bearing surface.

[0014] Optionally, the feeding assembly includes a first slider, a first hydraulic rod, a servo motor, an extension rod and a pneumatic suction cup arranged in sequence from top to bottom, the first slider is connected to the first circular track, the first hydraulic rod and the servo motor are used to drive the extension rod to move up and down and rotate respectively, so as to transfer the pneumatic suction cup to the top of the shelf assembly and pick up the shelf assembly.

[0015] Optionally, the weld surface cleaning assembly also includes a second slider, a second hydraulic rod, a first linear adjustment unit and a first spherical motion unit arranged in sequence from top to bottom, the second slider is connected to the second annular track, the second hydraulic rod is used to drive the first linear adjustment unit to move up and down, the first linear adjustment unit can drive the cleaning column to move in the horizontal direction through the first spherical motion unit, and the first spherical motion unit is used to drive the cleaning cylinder to perform spherical motion.

[0016] Optionally, the first linear adjustment unit includes a mounting plate connected to the execution end of the second hydraulic rod, a screw rod disposed in the mounting plate, and a movable block sleeved on the screw rod, and the first spherical motion unit is connected to the movable block.

[0017] Optionally, the first spherical motion unit includes a control box and a spherical seat connected to the execution end of the control box, and the cleaning column is connected to the spherical surface of the spherical seat.

[0018] Optionally, the arc welding assembly also includes a third slider, a third hydraulic rod, a second linear adjustment unit and a second spherical motion unit arranged in sequence from top to bottom, the third slider is connected to the second annular track, the third hydraulic rod is used to drive the second linear adjustment unit to move up and down, the second linear adjustment unit can drive the welding gun to move in the horizontal direction through the second spherical motion unit, and the second spherical motion unit is used to drive the welding gun to perform spherical motion.

[0019] The beneficial effects of the present invention are:

[0020] The three-dimensional automatic arc welding equipment for steel plate shelves proposed by the present invention has a welding actuator and a welding position adjustment mechanism that can slide along a preset path respectively provided on the first bearing surface and the second bearing surface. The shelf assembly can be transported to the welding position adjustment mechanism by using a feeding assembly, and the welding surface of the shelf assembly can be cleaned and welded by using a cleaning column and a welding gun respectively, and the shelf assembly can be limited by using two clamping plates and a flexible limiting assembly. Compared with existing shelf welding equipment, the present invention can, on the one hand, achieve precise adjustment of the welding angle of the shelf assembly; on the other hand, it can also pre-treat the welding surface of the shelf assembly to achieve a better welding effect; and on the other hand, it can also flexibly limit the shelf assembly, thereby having higher flexibility and reliability, and can ensure the welding effect. It has a wide range of applications and a high degree of intelligence.

[0021] Furthermore, the present invention can limit the upper ends of shelf components of different shapes by setting a drive shaft, a linkage shaft and a magnetorheological fluid flexible coating layer, so as to improve the stability of the shelf components during welding while also broadening the scope of application of the three-dimensional automatic arc welding equipment.

[0022] Based on the above content, it can be seen that the technical solution of the present invention can effectively solve the problems that the existing shelf welding equipment limits the welding angles of welding components and shelf components and is difficult to accurately adjust the welding components and shelf components according to actual welding requirements, resulting in poor flexibility, unsatisfactory welding effects and a narrow scope of application.

[0023] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention may be better understood by referring to the following description taken in conjunction with the accompanying drawings, in which the same or similar reference numerals are used throughout the drawings to designate the same or similar parts.

[0025] Figure 1 A schematic structural diagram of a three-dimensional automatic arc welding device for steel plate shelves according to an embodiment of the present invention is shown in a first viewing angle;

[0026] Figure 2 A schematic structural diagram of a three-dimensional automatic arc welding device for steel plate shelves according to a second viewing angle of an embodiment of the present invention is shown;

[0027] Figure 3 A schematic structural diagram of a three-dimensional automatic arc welding device for steel plate shelves according to an embodiment of the present invention is shown from a third viewing angle;

[0028] Figure 4 A schematic structural diagram of a welding surface cleaning assembly according to an embodiment of the present invention is shown;

[0029] Figure 5 A schematic structural diagram of an arc welding assembly according to an embodiment of the present invention is shown;

[0030] Figure 6 It shows a structural schematic diagram of a welding position adjustment mechanism according to an embodiment of the present invention;

[0031] Figure 7 A cross-sectional view of a slide according to an embodiment of the present invention is shown;

[0032] Figure 8 A schematic structural diagram of a flexible limiting assembly according to an embodiment of the present invention is shown;

[0033] Figure 9 A cross-sectional view of a flexible limiting assembly according to an embodiment of the present invention is shown.

[0034] Reference numerals:

[0035] 1-cabinet; 2-first bearing surface; 3-second bearing surface; 4-cleaning column; 5-welding gun; 6-base; 7-clamping plate; 8-control console; 81-touch screen; 9-first circular track; 10-second circular track; 11-third circular track; 12-through slot; 13-clearing bin; 14-loading bin; 15-unloading plate; 16-first slide; 17-first hydraulic rod; 18-servo motor; 181-extension rod; 19-pneumatic suction cup; 20-second slide; 21-second hydraulic rod; 2 2-mounting plate; 23-screw; 24-movable block; 25-control box; 26-spherical seat; 27-third slider; 28-third hydraulic rod; 29-support frame; 30-limiting ring; 31-rotating shaft; 32-hollow motor; 33-rubber sleeve; 34-fourth slider; 35-electric push rod; 36-housing; 361-opening; 362-slide; 37-drive shaft; 38-linkage shaft; 39-magnetorheological fluid flexible coating; 40-magnetorheological fluid; 41-coil array; 42-steel plate. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to more fully understand the technical solution of the present invention, the exemplary embodiments of the present invention will be described in more comprehensive and detailed in conjunction with the accompanying drawings below. Obviously, the one or more embodiments of the present invention described below are only one or more of the specific ways of implementing the technical solution of the present invention, and are not exhaustive. It should be understood that other ways belonging to a general inventive concept can be used to implement the technical solution of the present invention, and should not be limited by the exemplary embodiments described. Based on one or more embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention.

[0037] Reference Figure 1-9 An embodiment of the present invention provides a three-dimensional automatic arc welding device for steel plate shelves, comprising a cabinet 1 having an open area, wherein a first bearing surface 2 and a second bearing surface 3 are vertically opposed to each other in the open area, and a welding actuator and a welding position adjustment mechanism that can slide along a preset path are respectively provided on the first bearing surface 2 and the second bearing surface 3;

[0038] The welding actuator includes a feeding assembly, a welding surface cleaning assembly, and an arc welding assembly. The feeding assembly is used to transport the shelf assembly to the welding position adjustment mechanism. The welding surface cleaning assembly includes a cleaning column 4. The arc welding assembly includes a welding gun 5. The cleaning column 4 and the welding gun 5 are both configured to be able to perform spherical motion.

[0039] The welding position adjustment mechanism includes at least two clamping assemblies, each of which includes a base 6 that can rotate with its sliding direction as the axis and two clamping plates 7 arranged on the base 6 and configured to move toward or away from each other, and each clamping plate 7 is provided with a flexible limit assembly;

[0040] When the shelf assembly is clamped by the two clamping plates 7, the flexible limiting assembly can limit the upper end of the shelf assembly, and the cleaning column 4 and the welding gun 5 can clean and weld the welding surface of the shelf assembly respectively.

[0041] In one embodiment, a console 8 is provided on the cabinet 1, and the console 8 includes a touch screen 81 and a controller electrically connected to the touch screen 81. Specifically, the controller is a PLC controller, and the PLC controller combined with the touch screen can meet the requirements of electrical control of the three-dimensional automatic arc welding equipment of the present invention and personalized welding settings according to actual welding needs.

[0042] In one embodiment, a first annular track 9 and a second annular track 10 are sequentially arranged on the first bearing surface 2 from the outside to the inside, the feeding assembly is connected to the first annular track 9, and the weld surface cleaning assembly and the arc welding assembly are both connected to the second annular track 10.

[0043] In one embodiment, a third annular track 11 is provided on the second bearing surface 3 , and each clamping assembly is connected to the third annular track 11 .

[0044] Specifically, the first, second, and third circular tracks are all "runway-type tracks," meaning they all have straight and curved track segments. This not only allows the components to slide along a preset path, but also enables more flexible and precise adjustment of the positions of the components.

[0045] In one embodiment, a through groove 12 for collecting welding waste is provided in the middle of the second bearing surface 3 .

[0046] In a specific embodiment, the cleaning column 4 , the welding gun 5 and each clamping assembly are all located in the area directly above the through slot 12 .

[0047] In one embodiment, the lower end of the through groove 12 is supported by a material clearing bin 13 that can be pulled outward.

[0048] Specifically, when welding waste is generated, the welding waste will fall directly into the through trough due to gravity, and further fall into the cleaning bin, so as to facilitate the collection and removal of the welding waste.

[0049] In one embodiment, a loading bin 14 and a blanking plate 15 are provided on the cabinet body 1 on both sides of the second supporting surface 3. Specifically, shelf components to be welded are pre-placed in the loading bin for retrieval, while the blanking plate can be used to carry shelf components that are still to be welded or have been welded, so as to facilitate the recycling of shelf components.

[0050] It is worth noting that the feeding assembly, weld surface cleaning assembly and arc welding assembly of the present invention can be set to one or more, depending on the actual application requirements.

[0051] In one embodiment, the feeding assembly includes a first slider 16, a first hydraulic rod 17, a servo motor 18, an extension rod 181 and a pneumatic suction cup 19 arranged in sequence from top to bottom. The first slider 15 is connected to the first circular track 9. The first hydraulic rod 17 and the servo motor 18 are used to drive the extension rod 181 to move up and down and rotate respectively to transfer the pneumatic suction cup 19 to the top of the shelf assembly and pick up the shelf assembly.

[0052] In a specific embodiment, the extension rod 181 is shaped like an S.

[0053] Specifically, the pneumatic suction cup consists of a suction cup body, an air pipe interface, a vacuum pump, and sealing material. Its operating principle is that the vacuum pump generates negative pressure: when compressed air enters the vacuum generator through the air pipe, a vacuum environment below atmospheric pressure is formed inside the suction cup. The external atmospheric pressure presses the shelf components against the suction cup surface. The flexible sealing material at the edge of the suction cup ensures stable suction force, thereby enabling the shelf components to be picked up. This is existing technology and will not be elaborated on here.

[0054] After the pneumatic suction cup picks up the shelf assembly from the loading bin, it can be transferred to a designated position based on welding requirements via the first slide, first hydraulic rod, and servo motor, allowing each clamping assembly to clamp the shelf assembly. Similarly, the pneumatic suction cup can also transfer shelf assemblies that are still to be welded or have been welded to the unloading plate based on welding requirements.

[0055] In one embodiment, the weld surface cleaning assembly further includes a second slider 20, a second hydraulic rod 21, a first linear adjustment unit, and a first spherical motion unit, which are sequentially arranged from top to bottom. The second slider 20 is connected to the second annular track 10. The second hydraulic rod 21 is used to drive the first linear adjustment unit to move up and down. The first linear adjustment unit can drive the cleaning column 4 to move horizontally through the first spherical motion unit. The first spherical motion unit is used to drive the cleaning cylinder 4 to perform spherical motion, such as Figure 4 shown.

[0056] In one embodiment, the first linear adjustment unit includes a mounting plate 22 connected to the actuating end of the second hydraulic rod 21, a screw 23 disposed within the mounting plate 22, and a movable block 24 sleeved onto the screw 23. The first spherical motion unit is connected to the movable block 24. Specifically, the screw is driven by a bidirectional motor and controlled by a controller to drive the movable block to reciprocate horizontally. The lower surface of the mounting plate is provided with a guide groove (not shown) for limiting the upper end of the movable block and guiding its movement.

[0057] In a specific embodiment, the first spherical motion unit includes a control box 25 and a spherical seat 26 connected to the actuator end of the control box 25, and the cleaning column 4 is connected to the spherical surface of the spherical seat 26. Specifically, the spherical seat is composed of a spherical joint and a fixed seat. The multi-degree-of-freedom movement of the spherical joint drives the cleaning column to flexibly rotate in three-dimensional space. Its control principle is to use the control box to adjust the angle and position of the spherical joint, combined with the real-time feedback of the posture information of the cleaning column by the sensor in the control box, and through the controller to calculate and send instructions to accurately adjust the rotation direction and angle of the spherical seat, thereby achieving stable control of the cleaning column. This is a prior art and will not be elaborated on here.

[0058] In one embodiment, the cleaning column 4 includes a sleeve column and an external cleaning component sleeved on the sleeve column.

[0059] In a specific embodiment, the external cleaning component is a wire brush, sandpaper or an angle grinding head.

[0060] In one embodiment, the cleaning column 4 is provided with a visual inspection lens (not shown in the figure) for inspecting the weld surface of the shelf assembly.

[0061] Specifically, when the shelf assembly is clamped by two clamps, one or more of the second slider, second hydraulic rod, screw rod and spherical seat can be selected to drive the cleaning column according to the position of its welding surface and the welding surface detection status fed back to the controller by the visual detection lens, so that the cleaning column can fit the welding surface and fully clean it to remove impurities on the welding surface that are likely to affect the welding effect, thereby achieving a more ideal welding effect.

[0062] In one embodiment, the arc welding assembly also includes a third slider 27, a third hydraulic rod 28, a second linear adjustment unit and a second spherical motion unit, which are arranged in sequence from top to bottom. The third slider 27 is connected to the second annular track 10, and the third hydraulic rod 28 is used to drive the second linear adjustment unit to move up and down. The second linear adjustment unit can drive the welding gun 5 to move in the horizontal direction through the second spherical motion unit, and the second spherical motion unit is used to drive the welding gun 5 to perform spherical motion.

[0063] Specifically, the second linear adjustment unit and the second spherical motion unit are respectively configured to have the same structure as the first linear adjustment unit and the first spherical motion unit, such as Figure 5 shown.

[0064] The welding gun consists of a conductive tip, a nozzle, a shielding gas channel, a wire feed unit, and a cable connection. Its operating principle is that the welding gun transmits current from a controller to the welding rod or wire. When the welding rod or wire approaches a shelf component within a certain distance, an arc is formed. The high temperature generated by the arc causes the welding rod or wire and the shelf component to partially melt and fuse. Simultaneously, the nozzle releases shielding gas to isolate the air and prevent oxidation of the molten pool, thereby achieving a secure connection between the shelf components. This is prior art and will not be further elaborated here.

[0065] Therefore, when the shelf assembly is clamped by the two clamps, one or more of the third slider, the third hydraulic rod, the screw rod and the spherical seat can be selected to drive the welding gun according to the position of its welding surface, so that the welding rod or welding wire in the welding gun is close to the welding surface of the shelf assembly, thereby achieving precise welding of the shelf assembly.

[0066] In a specific embodiment, the control ends of the first hydraulic rod 17, the second hydraulic rod 21 and the third hydraulic rod 28 are all electrically connected to the controller. Specifically, the structure and working principle of the hydraulic rods are all prior art and will not be described in detail here.

[0067] In one embodiment, each clamping assembly further comprises a slide connected to the third annular track 11, on which two support frames 29 are arranged opposite to each other, and a limiting ring 30 is provided at the upper end of each support frame 29, and a rotating shaft 31 is passed through the limiting rings of the two support frames 29, and a hollow motor 32 is sleeved on the rotating shaft 31, and the base 6 is sleeved on the rotating shaft 31. Figure 6 As shown. Specifically, the hollow motor is mainly composed of a stator, a rotor, a hollow shaft, bearings and end covers. The stator is a fixed component with built-in windings or permanent magnets. It generates a rotating magnetic field after being energized by the controller; the rotor is a rotating component that generates torque through electromagnetic induction and interaction with the stator magnetic field. Its unique hollow shaft design allows the rotating shaft to pass through its internal space. During operation, current is passed through the stator winding to excite the magnetic field, driving the rotor to rotate around the hollow shaft. At the same time, the bearings reduce friction losses, and the end covers protect the internal structure. This is a prior art and will not be described in detail here.

[0068] Therefore, the hollow motor can drive the rotating shaft to drive the limiting plate to rotate along its sliding direction, so that it can fine-tune the position of the shelf component to be clamped or the position of the shelf component clamped between the two clamping plates to achieve better limiting or precise coordination with other mechanisms.

[0069] In one embodiment, the slide includes a rubber sleeve 33 and two fourth sliders 34 connected to the third annular track 11. The rubber sleeve 33 is mounted on the two fourth sliders 34. This ensures that each slider can slide smoothly on the third annular track. The rubber sleeve also connects the two fourth sliders to achieve overall sliding of the slide.

[0070] In a specific embodiment, the lower end of each support frame 29 is connected to each fourth slider 34 in a one-to-one correspondence, such as Figure 7 shown.

[0071] In one embodiment, two groups of electric push rods 35 are provided on the limiting plate 33 for driving the two clamping plates 7 respectively.

[0072] In a specific embodiment, each set of electric push rods includes two electric push rods 35 connected to two ends of each clamping plate 7 .

[0073] Specifically, an electric push rod consists of a drive motor, gearbox, screw-nut pair, push rod, guide components, and housing. Its core structure is that the drive motor drives the gearbox, converting high-speed rotation into low-speed, high-torque output. This, in turn, drives the screw-nut pair through a threaded transmission, converting rotational motion into linear motion. This push rod then axially expands and contracts, enabling the two clamping plates to move toward or away from each other. This is prior art and will not be elaborated upon here.

[0074] In one specific embodiment, the first slider 16, the second slider 20, the third slider 27, and each of the fourth sliders 34 each contain a control assembly electrically connected to a controller. Specifically, the control assembly primarily comprises a stepper motor, a synchronous pulley, and an encoder. Under the controller's command, the stepper motor outputs power, converting rotational motion into linear motion via the synchronous pulley, pushing the slider along a preset path. The encoder monitors the slider's position in real time and feeds the signal back to the controller, forming a closed-loop control loop. This precisely adjusts the slider's position, speed, and acceleration, achieving high-precision positioning and motion control.

[0075] In one embodiment, the flexible limit assembly includes a shell 36 with a lateral opening 361, a drive shaft 37 and a linkage unit. Two slide grooves 362 are relatively provided on the inner wall of the opening 361. The two ends of the drive shaft 37 are respectively embedded in the two slide grooves 362. The linkage unit includes a linkage shaft 38 sleeved on the drive shaft 37 and a magnetorheological fluid flexible coating layer 39 connected to the linkage shaft 38 and capable of moving toward the outside of the opening 361 under the drive of the linkage shaft. The magnetorheological fluid flexible coating layer 39 is filled with magnetorheological fluid 40 and a coil array 41 is provided on the side facing the opening 361. The coil array 41 is configured to generate a magnetic field that causes the magnetorheological fluid 40 to exhibit solid-like mechanical properties after power is applied, such as Figure 8 and 9shown.

[0076] Specifically, the drive shaft accurately converts rotational motion or linear motion into linear movement of the drive shaft in the two slide grooves through the transmission mechanisms such as cylinders, couplings, gear racks, etc. arranged therein, so that the linkage shaft can slide up and down along the two slide grooves.

[0077] Magnetorheological fluid is an intelligent material made from a mixture of tiny soft magnetic particles with high magnetic permeability and low magnetic hysteresis and a non-magnetic carrier liquid. Its ability to exhibit solid-like mechanical properties in a magnetic field is mainly attributed to the effect of the magnetic field on the magnetic particles. Specifically, when the magnetorheological fluid is in a non-magnetic environment, the magnetic particles are randomly dispersed in the carrier liquid and the whole is in a flowing state; when an external magnetic field is applied, the magnetic particles will quickly arrange themselves into a chain or network structure along the direction of the magnetic field. This orderly arrangement significantly increases the viscosity of the magnetorheological fluid, causing it to change from a flowing state to a solid-like state. Therefore, when the flexible coating of the magnetorheological fluid moves toward the outside of the opening and is laid on the upper surface of the shelf assembly, it can limit the shelf assembly.

[0078] In addition, a relay is provided in the linkage shaft for regulating the coil array to generate a magnetic field. The transmission mechanism and relay in the drive shaft are both electrically connected or in communication with the controller.

[0079] In a specific embodiment, the magnetorheological fluid flexible coating layer 39 is a flexible layered structure made of rubber with an inner cavity. This ensures the magnetorheological fluid is effectively coated, and its flexibility also enables the fluid to be moved or recovered outside the opening under the drive of the linkage shaft.

[0080] When the flexible coating layer of the magnetorheological fluid is recovered through the linkage shaft, it can be completely stored in the shell to prevent it from affecting the unloading or other operations of the shelf components.

[0081] In a specific embodiment, the shelf assembly includes a plurality of steel plates 42 placed in the upper hopper 14. Specifically, the shelf assembly can also be in other shapes such as angle steel, and the present invention is not limited thereto. Any shape of shelf assembly that can be limited by the clamping plate of the present invention can be used with the three-dimensional automatic arc welding equipment proposed by the present invention.

[0082] The operation of the three-dimensional automatic arc welding equipment of the present invention mainly includes the following steps:

[0083] 1. Place the steel plates to be welded in the loading bin, and then use the touch screen on the console to set and start the controller according to the actual welding requirements;

[0084] Second, during the loading phase, the controller controls the first slide, the first hydraulic rod, and the servo motor to move the pneumatic suction cup over the target steel plate and pick it up. The target steel plate is then transferred to the designated limit plate and the two clamping plates and the magnetorheological fluid flexible coating are driven to limit the target steel plate. This operation is repeated to limit the position of the steel plate to be welded that is adjacent to the target steel plate.

[0085] Third, weld surface preparation: The controller controls the second slide, second hydraulic rod, screw, and spherical seat to move the cleaning column to the weld surface of the target steel plate and the steel plate to be welded, and then treats the surface. After treatment, the controller controls the two fourth slides to slide the target steel plate and the steel plate to be welded along the third circular track to the appropriate position for welding.

[0086] Fourth, welding: The controller controls the third slide, third hydraulic rod, screw, and spherical seat to move the welding gun to the joint where welding is performed. During this process, the spherical seat and hollow motor can be used to coordinately adjust the angle between the welding gun and the joint until welding is complete.

[0087] 5. Unloading: The controller de-energizes the coil array and uses the drive shaft to move the linkage shaft upward, retrieving the flexible coating of the magnetorheological fluid into the opening. Simultaneously, the electric push rod moves the two clamping plates away from each other, releasing the restraints on the welded steel plate. The controller then controls the first slide, first hydraulic rod, and servo motor again, causing the pneumatic suction cup to pick up the welded steel plate and transfer it to the unloading plate.

[0088] 6. After welding is completed, the operator can pull out the cleaning bin to remove the welding waste inside.

[0089] Of course, it should be appreciated that, in actual welding operations, operators may personalize the three-dimensional automatic arc welding equipment of the present invention according to welding requirements and are not limited to the above-mentioned operating steps.

[0090] The three-dimensional automatic arc welding equipment for steel plate shelves proposed by the present invention has a welding actuator and a welding position adjustment mechanism that can slide along a preset path respectively provided on the first bearing surface and the second bearing surface. The shelf assembly can be transported to the welding position adjustment mechanism by using a feeding assembly, and the welding surface of the shelf assembly can be cleaned and welded by using a cleaning column and a welding gun respectively, and the shelf assembly can be limited by using two clamping plates and a flexible limiting assembly. Compared with existing shelf welding equipment, the present invention can, on the one hand, achieve precise adjustment of the welding angle of the shelf assembly; on the other hand, it can also pre-treat the welding surface of the shelf assembly to achieve a better welding effect; and on the other hand, it can also flexibly limit the shelf assembly, thereby having higher flexibility and reliability, and can ensure the welding effect. It has a wide range of applications and a high degree of intelligence.

[0091] Furthermore, the present invention can limit the upper ends of shelf components of different shapes by setting a drive shaft, a linkage shaft and a magnetorheological fluid flexible coating layer, so as to improve the stability of the shelf components during welding while also broadening the scope of application of the three-dimensional automatic arc welding equipment.

[0092] Although one or more embodiments of the present invention have been described above, it should be understood by those skilled in the art that the present invention can be implemented in any other form without departing from its spirit and scope. Therefore, the embodiments described above are illustrative and not restrictive, and many modifications and substitutions will be apparent to those skilled in the art without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A three-dimensional automatic arc welding equipment for steel plate shelves, characterized in that: The cabinet comprises an open area, wherein a first bearing surface and a second bearing surface are arranged opposite to each other in a vertical direction in the open area, and a welding actuator and a welding position adjustment mechanism capable of sliding along a preset path are respectively arranged on the first bearing surface and the second bearing surface; The welding actuator includes a feeding assembly, a welding surface cleaning assembly and an arc welding assembly. The feeding assembly is used to transport the shelf assembly into the welding position adjustment mechanism. The welding surface cleaning assembly includes a cleaning column. The arc welding assembly includes a welding gun. Both the cleaning column and the welding gun are configured to be able to perform spherical motion. The welding position adjustment mechanism includes at least two clamping assemblies, each of which includes a base that can rotate with its sliding direction as an axis and two clamping plates arranged on the base and configured to move toward or away from each other, each clamping plate is provided with a flexible limit assembly; When the shelf assembly is clamped by the two clamping plates, the flexible limiting assembly can limit the upper end of the shelf assembly, and the cleaning column and the welding gun can clean and weld the welding surface of the shelf assembly respectively.

2. The three-dimensional automatic arc welding equipment for steel plate shelves according to claim 1 is characterized in that: The flexible limit assembly includes a shell with a lateral opening, a drive shaft and a linkage unit. Two slide grooves are arranged opposite to each other on the inner wall of the opening, and the two ends of the drive shaft are respectively embedded in the two slide grooves. The linkage unit includes a linkage shaft sleeved on the drive shaft and a magnetorheological fluid flexible covering layer connected to the linkage shaft and capable of moving toward the outside of the opening under the drive shaft. The magnetorheological fluid flexible covering layer is filled with magnetorheological fluid and a coil array is arranged on the side facing the opening. The coil array is configured to generate a magnetic field that causes the magnetorheological fluid to exhibit solid-like mechanical properties after power is applied.

3. The three-dimensional automatic arc welding equipment for steel plate shelves according to claim 2, characterized in that: A first annular track and a second annular track are sequentially arranged on the first bearing surface from outside to inside. The feeding assembly is connected to the first annular track, and the welding surface cleaning assembly and the arc welding assembly are both connected to the second annular track.

4. The three-dimensional automatic arc welding equipment for steel plate shelves according to claim 3, characterized in that: A third annular track is provided on the second bearing surface, and each clamping assembly is connected to the third annular track.

5. The three-dimensional automatic arc welding equipment for steel plate shelves according to claim 4, characterized in that: A through groove for collecting welding waste is provided in the middle of the second bearing surface.

6. The three-dimensional automatic arc welding equipment for steel plate shelves according to claim 5, characterized in that: The feeding assembly includes a first slider, a first hydraulic rod, a servo motor, an extension rod and a pneumatic suction cup arranged in sequence from top to bottom. The first slider is connected to the first circular track. The first hydraulic rod and the servo motor are used to drive the extension rod to move up and down and rotate respectively to transfer the pneumatic suction cup to the top of the shelf assembly and pick up the shelf assembly.

7. The three-dimensional automatic arc welding equipment for steel plate shelves according to claim 6, characterized in that: The weld surface cleaning assembly also includes a second slider, a second hydraulic rod, a first linear adjustment unit and a first spherical motion unit arranged in sequence from top to bottom. The second slider is connected to the second annular track. The second hydraulic rod is used to drive the first linear adjustment unit to move up and down. The first linear adjustment unit can drive the cleaning column to move horizontally through the first spherical motion unit. The first spherical motion unit is used to drive the cleaning cylinder to perform spherical motion.

8. The three-dimensional automatic arc welding equipment for steel plate shelves according to claim 7, characterized in that: The first linear adjustment unit includes a mounting plate connected to the execution end of the second hydraulic rod, a screw rod arranged in the mounting plate, and a movable block sleeved on the screw rod, and the first spherical motion unit is connected to the movable block.

9. The three-dimensional automatic arc welding equipment for steel plate shelves according to claim 8, characterized in that: The first spherical motion unit includes a control box and a spherical seat connected to the execution end of the control box, and the cleaning column is connected to the spherical surface of the spherical seat.

10. The three-dimensional automatic arc welding equipment for steel plate shelves according to claim 9, characterized in that: The arc welding assembly also includes a third slider, a third hydraulic rod, a second linear adjustment unit and a second spherical motion unit, which are arranged in sequence from top to bottom. The third slider is connected to the second annular track. The third hydraulic rod is used to drive the second linear adjustment unit to move up and down. The second linear adjustment unit can drive the welding gun to move in the horizontal direction through the second spherical motion unit. The second spherical motion unit is used to drive the welding gun to perform spherical motion.

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